#ifndef JOINTDATA_H
#define JOINTDATA_H

#include <QWidget>
#include <QLabel>
#include <QLineEdit>
#include <QString>
#include <QGroupBox>
#include <QGridLayout>

#include "vector3D.h"
#include "coordinate3D.h"
#include "math.h"

class Robot;

class JointData : public QWidget
{
        Q_OBJECT
       
        public:
                JointData(Robot *robot, QString name, int joint);
               
        public slots:
                void setName(QString name);
                void setJoint(int joint);
                void updateSelf();
               
        signals:
       
        private:
                Robot *robotPointer;
                QString groupName;
                int jointNumber;
                int whichOrientation; //i=0, j=1, or k=2
               
                QGridLayout *gridLayout;
                QGroupBox *groupBox;
               
                QLabel *posLabel;
                QLabel *orientLabel;
                QLineEdit *posLine;
                QLineEdit *orientLine;
                
                QLabel *xLabel;
                QLabel *yLabel;
                QLabel *zLabel;
                
                QLineEdit *posLineX;
                QLineEdit *posLineY;
                QLineEdit *posLineZ;
                
                QLineEdit *orientLineX;
                QLineEdit *orientLineY;
                QLineEdit *orientLineZ;
               
                coord3D position;
                vector3D orientation;
                
                float round(float number);
		int roundPrecision;

        private slots:

};

#endif

